OpenRTM-aist is a software platform developed on the basis of the RT middleware standard.

[1] OpenRTM-aist is developed by National Institute of Advanced Industrial Science and Technology which also contributes to definition of the RT-middleware standard.

In RT middleware, all robotic technological elements, such as actuators and sensors, are regarded as RT-components (RTC).

Implementations of this model include CORBA, Enterprise JavaBean (EJB), and .NET Framework.

OpenRTM-aist is based on the CORBA technology and implements the extended RTC specification.

OpenRTM-aist implements some extended RTC features, and it also includes a Manager component to help manipulating RTCs.

On the other hand, "on_deactivated" callback function is called when the RTC is deactivated (from ACTIVE to INACTIVE state).

[6] Since OpenRTM-aist is based on the CORBA technology, it supports several programming languages, including:

OpenRTM-aist also supports RTC-template which is a command-line type skeleton-code generation tool.